progs/redbook/robot.c

   1 /*
   2  * Copyright (c) 1993-1997, Silicon Graphics, Inc.
   3  * ALL RIGHTS RESERVED
   4  * Permission to use, copy, modify, and distribute this software for
   5  * any purpose and without fee is hereby granted, provided that the above
   6  * copyright notice appear in all copies and that both the copyright notice
   7  * and this permission notice appear in supporting documentation, and that
   8  * the name of Silicon Graphics, Inc. not be used in advertising
   9  * or publicity pertaining to distribution of the software without specific,
  10  * written prior permission.
  11  *
  12  * THE MATERIAL EMBODIED ON THIS SOFTWARE IS PROVIDED TO YOU "AS-IS"
  13  * AND WITHOUT WARRANTY OF ANY KIND, EXPRESS, IMPLIED OR OTHERWISE,
  14  * INCLUDING WITHOUT LIMITATION, ANY WARRANTY OF MERCHANTABILITY OR
  15  * FITNESS FOR A PARTICULAR PURPOSE.  IN NO EVENT SHALL SILICON
  16  * GRAPHICS, INC.  BE LIABLE TO YOU OR ANYONE ELSE FOR ANY DIRECT,
  17  * SPECIAL, INCIDENTAL, INDIRECT OR CONSEQUENTIAL DAMAGES OF ANY
  18  * KIND, OR ANY DAMAGES WHATSOEVER, INCLUDING WITHOUT LIMITATION,
  19  * LOSS OF PROFIT, LOSS OF USE, SAVINGS OR REVENUE, OR THE CLAIMS OF
  20  * THIRD PARTIES, WHETHER OR NOT SILICON GRAPHICS, INC.  HAS BEEN
  21  * ADVISED OF THE POSSIBILITY OF SUCH LOSS, HOWEVER CAUSED AND ON
  22  * ANY THEORY OF LIABILITY, ARISING OUT OF OR IN CONNECTION WITH THE
  23  * POSSESSION, USE OR PERFORMANCE OF THIS SOFTWARE.
  24  *
  25  * US Government Users Restricted Rights
  26  * Use, duplication, or disclosure by the Government is subject to
  27  * restrictions set forth in FAR 52.227.19(c)(2) or subparagraph
  28  * (c)(1)(ii) of the Rights in Technical Data and Computer Software
  29  * clause at DFARS 252.227-7013 and/or in similar or successor
  30  * clauses in the FAR or the DOD or NASA FAR Supplement.
  31  * Unpublished-- rights reserved under the copyright laws of the
  32  * United States.  Contractor/manufacturer is Silicon Graphics,
  33  * Inc., 2011 N.  Shoreline Blvd., Mountain View, CA 94039-7311.
  34  *
  35  * OpenGL(R) is a registered trademark of Silicon Graphics, Inc.
  36  */
  37
  38 /*
  39  * robot.c
  40  * This program shows how to composite modeling transformations
  41  * to draw translated and rotated hierarchical models.
  42  * Interaction:  pressing the s and e keys (shoulder and elbow)
  43  * alters the rotation of the robot arm.
  44  */
  45 #include <GL/glut.h>
  46 #include <stdlib.h>
  47
  48 static int shoulder = 0, elbow = 0;
  49
  50 static void init(void)
  51 {
  52   glClearColor (0.0, 0.0, 0.0, 0.0);
  53   glShadeModel (GL_FLAT);
  54 }
  55
  56 static void display(void)
  57 {
  58    glClear (GL_COLOR_BUFFER_BIT);
  59    glPushMatrix();
  60    glTranslatef (-1.0, 0.0, 0.0);
  61    glRotatef ((GLfloat) shoulder, 0.0, 0.0, 1.0);
  62    glTranslatef (1.0, 0.0, 0.0);
  63    glPushMatrix();
  64    glScalef (2.0, 0.4, 1.0);
  65    glutWireCube (1.0);
  66    glPopMatrix();
  67
  68    glTranslatef (1.0, 0.0, 0.0);
  69    glRotatef ((GLfloat) elbow, 0.0, 0.0, 1.0);
  70    glTranslatef (1.0, 0.0, 0.0);
  71    glPushMatrix();
  72    glScalef (2.0, 0.4, 1.0);
  73    glutWireCube (1.0);
  74    glPopMatrix();
  75
  76    glPopMatrix();
  77    glutSwapBuffers();
  78 }
  79
  80 static void reshape (int w, int h)
  81 {
  82    glViewport (0, 0, (GLsizei) w, (GLsizei) h);
  83    glMatrixMode (GL_PROJECTION);
  84    glLoadIdentity ();
  85    gluPerspective(65.0, (GLfloat) w/(GLfloat) h, 1.0, 20.0);
  86    glMatrixMode(GL_MODELVIEW);
  87    glLoadIdentity();
  88    glTranslatef (0.0, 0.0, -5.0);
  89 }
  90
  91 /* ARGSUSED1 */
  92 static void keyboard (unsigned char key, int x, int y)
  93 {
  94    switch (key) {
  95       case 's':
  96          shoulder = (shoulder + 5) % 360;
  97          glutPostRedisplay();
  98          break;
  99       case 'S':
 100          shoulder = (shoulder - 5) % 360;
 101          glutPostRedisplay();
 102          break;
 103       case 'e':
 104          elbow = (elbow + 5) % 360;
 105          glutPostRedisplay();
 106          break;
 107       case 'E':
 108          elbow = (elbow - 5) % 360;
 109          glutPostRedisplay();
 110          break;
 111       case 27:
 112          exit(0);
 113          break;
 114       default:
 115          break;
 116    }
 117 }
 118
 119 int main(int argc, char** argv)
 120 {
 121    glutInit(&argc, argv);
 122    glutInitDisplayMode (GLUT_DOUBLE | GLUT_RGB);
 123    glutInitWindowSize (500, 500);
 124    glutInitWindowPosition (100, 100);
 125    glutCreateWindow (argv[0]);
 126    init ();
 127    glutDisplayFunc(display);
 128    glutReshapeFunc(reshape);
 129    glutKeyboardFunc(keyboard);
 130    glutMainLoop();
 131    return 0;
 132 }